Glider dive log

DavisStrait Feb11 * SG141 * Dive index * Mission links * Dive 130 * Log results * Raw log file

Parameter values: Sort by alphabetical glider order

ID 141 HD_C 9.9999997e-06 ROLL_MIN 256 ALTIM_TOP_TURN_MARGIN 5

MISSION 15 HEADING -1 ROLL_MAX 3943 ALTIM_TOP_MIN_OBSTACLE 2

DIVE 130 ESCAPE_HEADING 120 ROLL_DEG 40 ALTIM_PING_DEPTH 300

N_DIVES 0 ESCAPE_HEADING_DELTA 10 C_ROLL_DIVE 2490 ALTIM_PING_DELTA 50

D_SURF 3 FIX_MISSING_TIMEOUT 5 C_ROLL_CLIMB 2275 ALTIM_FREQUENCY 13

D_FLARE 5 TGT_DEFAULT_LAT 6000 HEAD_ERRBAND 10 ALTIM_PULSE 3

D_TGT 990 TGT_DEFAULT_LON -5500 ROLL_CNV 0.028270001 ALTIM_SENSITIVITY 4

D_ABORT 1050 TGT_AUTO_DEFAULT 0 ROLL_TIMEOUT 15 XPDR_VALID 4

D_NO_BLEED 50 SM_CC 400 R_PORT_OVSHOOT 37 XPDR_INHIBIT 90

D_BOOST 3 N_FILEKB 4 R_STBD_OVSHOOT 33 INT_PRESSURE_SLOPE 0.0097660003

T_BOOST 0 FILEMGR 2 ROLL_AD_RATE 325 INT_PRESSURE_YINT 0

D_FINISH 9 CALL_NDIVES 1 ROLL_MAXERRORS 0 DEEPGLIDER 0

D_PITCH 1.75 COMM_SEQ 0 ROLL_ADJ_GAIN 0 DEEPGLIDERMB 0

D_SAFE 500 PROTOCOL 9 ROLL_ADJ_DBAND 0 MOTHERBOARD 4

D_CALL 3 N_NOCOMM 1 VBD_MIN 751 DEVICE1 2

SURFACE_URGENCY 10 N_NOSURFACE 0 VBD_MAX 4040 DEVICE2 20

SURFACE_URGENCY_TRY 5 UPLOAD_DIVES_MAX 5 C_VBD 3030 DEVICE3 -1

SURFACE_URGENCY_FORCE 10 CALL_TRIES 3 VBD_DBAND 2 DEVICE4 -1

T_DIVE 330 CALL_WAIT 60 VBD_CNV -0.24529999 DEVICE5 -1

T_MISSION 400 CAPUPLOAD 0 VBD_TIMEOUT 720 DEVICE6 -1

T_ABORT 1440 CAPMAXSIZE 100000 PITCH_VBD_SHIFT 0.0012300001 LOGGERS 0

T_TURN 225 HEAPDBG 0 VBD_PUMP_AD_RATE_SURFACE 5 LOGGERDEVICE1 -1

T_TURN_SAMPINT 5 T_GPS 3 VBD_PUMP_AD_RATE_APOGEE 4 LOGGERDEVICE2 -1

T_NO_W 120 N_GPS 20 VBD_BLEED_AD_RATE 8 LOGGERDEVICE3 -1

T_LOITER 0 T_GPS_ALMANAC 0 UNCOM_BLEED 50 LOGGERDEVICE4 -1

USE_BATHY -3 T_GPS_CHARGE -26477.854 VBD_MAXERRORS 1 COMPASS_DEVICE 33

USE_ICE 2 T_RSLEEP 2 CF8_MAXERRORS 0 COMPASS2_DEVICE 133

ICE_FREEZE_MARGIN 0.1 STROBE 0 AH0_24V 150 PHONE_DEVICE 48

D_OFFGRID 250 RAFOS_PEAK_OFFSET 1.5 AH0_10V 110 GPS_DEVICE 32

T_WATCHDOG 10 RAFOS_CORR_THRESH 60 MINV_24V 19 RAFOS_DEVICE 32

RELAUNCH 1 RAFOS_HIT_WINDOW 3600 MINV_10V 8 XPDR_DEVICE 24

APOGEE_PITCH -5 PITCH_MIN 110 FG_AHR_10V 0 SIM_W 0

MAX_BUOY 150 PITCH_MAX 3900 FG_AHR_24V 0 SIM_PITCH 0

COURSE_BIAS 0 C_PITCH 2864 PHONE_SUPPLY 2 SEABIRD_T_G 0.0042907749

GLIDE_SLOPE 30 PITCH_DBAND 0.1 PRESSURE_YINT -33.184971 SEABIRD_T_H 0.0006300722

SPEED_FACTOR 1 PITCH_CNV 0.0031256729 PRESSURE_SLOPE 0.0001160265 SEABIRD_T_I 2.4342404e-05

RHO 1.0275 P_OVSHOOT 0.039999999 AD7714Ch0Gain 128 SEABIRD_T_J 2.663412e-06

MASS 51684 PITCH_GAIN 40 TCM_PITCH_OFFSET 0 SEABIRD_C_G -9.8752003

NAV_MODE 0 PITCH_TIMEOUT 20 TCM_ROLL_OFFSET 0 SEABIRD_C_H 1.1299734

FERRY_MAX 45 PITCH_AD_RATE 175 COMPASS_USE 0 SEABIRD_C_I -0.00041852854

KALMAN_USE 2 PITCH_MAXERRORS 2 ALTIM_BOTTOM_PING_RANGE 0 SEABIRD_C_J 0.00012689357

HD_A 0.003 PITCH_ADJ_GAIN 0.02 ALTIM_TOP_PING_RANGE 20

HD_B 0.0099999998 PITCH_ADJ_DBAND 1 ALTIM_BOTTOM_TURN_MARGIN 15

AD7714Ch0Gain 128 D_NO_BLEED 50 PHONE_DEVICE 48 SIM_W 0

AH0_10V 110 D_OFFGRID 250 PHONE_SUPPLY 2 SM_CC 400

AH0_24V 150 D_PITCH 1.75 PITCH_ADJ_DBAND 1 SPEED_FACTOR 1

ALTIM_BOTTOM_PING_RANGE 0 D_SAFE 500 PITCH_ADJ_GAIN 0.02 STROBE 0

ALTIM_BOTTOM_TURN_MARGIN 15 D_SURF 3 PITCH_AD_RATE 175 SURFACE_URGENCY 10

ALTIM_FREQUENCY 13 D_TGT 990 PITCH_CNV 0.0031256729 SURFACE_URGENCY_FORCE 10

ALTIM_PING_DELTA 50 ESCAPE_HEADING 120 PITCH_DBAND 0.1 SURFACE_URGENCY_TRY 5

ALTIM_PING_DEPTH 300 ESCAPE_HEADING_DELTA 10 PITCH_GAIN 40 TCM_PITCH_OFFSET 0

ALTIM_PULSE 3 FERRY_MAX 45 PITCH_MAX 3900 TCM_ROLL_OFFSET 0

ALTIM_SENSITIVITY 4 FG_AHR_10V 0 PITCH_MAXERRORS 2 TGT_AUTO_DEFAULT 0

ALTIM_TOP_MIN_OBSTACLE 2 FG_AHR_24V 0 PITCH_MIN 110 TGT_DEFAULT_LAT 6000

ALTIM_TOP_PING_RANGE 20 FILEMGR 2 PITCH_TIMEOUT 20 TGT_DEFAULT_LON -5500

ALTIM_TOP_TURN_MARGIN 5 FIX_MISSING_TIMEOUT 5 PITCH_VBD_SHIFT 0.0012300001 T_ABORT 1440

APOGEE_PITCH -5 GLIDE_SLOPE 30 PRESSURE_SLOPE 0.0001160265 T_BOOST 0

CALL_NDIVES 1 GPS_DEVICE 32 PRESSURE_YINT -33.184971 T_DIVE 330

CALL_TRIES 3 HD_A 0.003 PROTOCOL 9 T_GPS 3

CALL_WAIT 60 HD_B 0.0099999998 P_OVSHOOT 0.039999999 T_GPS_ALMANAC 0

CAPMAXSIZE 100000 HD_C 9.9999997e-06 RAFOS_CORR_THRESH 60 T_GPS_CHARGE -26477.854

CAPUPLOAD 0 HEADING -1 RAFOS_DEVICE 32 T_LOITER 0

CF8_MAXERRORS 0 HEAD_ERRBAND 10 RAFOS_HIT_WINDOW 3600 T_MISSION 400

COMM_SEQ 0 HEAPDBG 0 RAFOS_PEAK_OFFSET 1.5 T_NO_W 120

COMPASS2_DEVICE 133 ICE_FREEZE_MARGIN 0.1 RELAUNCH 1 T_RSLEEP 2

COMPASS_DEVICE 33 ID 141 RHO 1.0275 T_TURN 225

COMPASS_USE 0 INT_PRESSURE_SLOPE 0.0097660003 ROLL_ADJ_DBAND 0 T_TURN_SAMPINT 5

COURSE_BIAS 0 INT_PRESSURE_YINT 0 ROLL_ADJ_GAIN 0 T_WATCHDOG 10

C_PITCH 2864 KALMAN_USE 2 ROLL_AD_RATE 325 UNCOM_BLEED 50

C_ROLL_CLIMB 2275 LOGGERDEVICE1 -1 ROLL_CNV 0.028270001 UPLOAD_DIVES_MAX 5

C_ROLL_DIVE 2490 LOGGERDEVICE2 -1 ROLL_DEG 40 USE_BATHY -3

C_VBD 3030 LOGGERDEVICE3 -1 ROLL_MAX 3943 USE_ICE 2

DEEPGLIDER 0 LOGGERDEVICE4 -1 ROLL_MAXERRORS 0 VBD_BLEED_AD_RATE 8

DEEPGLIDERMB 0 LOGGERS 0 ROLL_MIN 256 VBD_CNV -0.24529999

DEVICE1 2 MASS 51684 ROLL_TIMEOUT 15 VBD_DBAND 2

DEVICE2 20 MAX_BUOY 150 R_PORT_OVSHOOT 37 VBD_MAX 4040

DEVICE3 -1 MINV_10V 8 R_STBD_OVSHOOT 33 VBD_MAXERRORS 1

DEVICE4 -1 MINV_24V 19 SEABIRD_C_G -9.8752003 VBD_MIN 751

DEVICE5 -1 MISSION 15 SEABIRD_C_H 1.1299734 VBD_PUMP_AD_RATE_APOGEE 4

DEVICE6 -1 MOTHERBOARD 4 SEABIRD_C_I -0.00041852854 VBD_PUMP_AD_RATE_SURFACE 5

DIVE 130 NAV_MODE 0 SEABIRD_C_J 0.00012689357 VBD_TIMEOUT 720

D_ABORT 1050 N_DIVES 0 SEABIRD_T_G 0.0042907749 XPDR_DEVICE 24

D_BOOST 3 N_FILEKB 4 SEABIRD_T_H 0.0006300722 XPDR_INHIBIT 90

D_CALL 3 N_GPS 20 SEABIRD_T_I 2.4342404e-05 XPDR_VALID 4

D_FINISH 9 N_NOCOMM 1 SEABIRD_T_J 2.663412e-06

D_FLARE 5 N_NOSURFACE 0 SIM_PITCH 0

Pre-dive calculations and measurements:

GPS1 100311,101746,6725.532,-5729.512,14,99.0,33,-38.2 TGT_NAME midTARGET

_CALLS 2 TGT_LATLONG 6656.000,-5813.000

_XMS_NAKs 0 TGT_RADIUS 10000.000

_XMS_TOUTs 0 KALMAN_CONTROL 0.000,0.000

_SM_DEPTHo 1.77 KALMAN_X 0.0,0.0,0.0,0.0,0.0

_SM_ANGLEo 13.0 KALMAN_Y 0.0,0.0,0.0,0.0,0.0

GPS2 100311,101746,6725.532,-5729.512,14,99.0,33,-38.2 MHEAD_RNG_PITCHd_Wd 248.2,63144,-17.5,-10.000

SPEED_LIMITS 0.173,0.260 D_GRID 216

Post-dive calculations and measurements:

FREEZE 6.81,-1.355,-1.827,2,5,0 ALTIM_TOP_PING 19.6,17.6

FINISH1 6.8,1.026735,37 _24V_AH 23.7,19.348

FINISH2 5.4 _10V_AH 10.4,10.659

RAFOS_CLK 225 FG_AHR_24Vo 0.000

RAFOS 0,1299772861,16.033333,16.016945,69,56,55,53,52,51,174,144,209,160,219,132 FG_AHR_10Vo 0.000

RAFOS_FIX 6725.381348,-5734.985352,100311,040456,2,108,0.00 MEM 150556

IRIDIUM_FIX 6658.43,-5734.74,100311,101042 DATA_FILE_SIZE 20081,521

TT8_MAMPS 0.026215 CAP_FILE_SIZE 55523,0

HUMID 44.25 CFSIZE 260165632,243568640

INTERNAL_PRESSURE 8.7601 ERRORS 0,0,0,0,0,0,0,0,0,0,0,0,0,0,0

TCM_TEMP 17.50 SOUNDSPEED 1460.9

XPDR_PINGS 0 GPS 100311,101746,6725.532,-5729.512,14,99.0,33,-38.2

Energy measurements:

device secs mA J sensor secs mA J

Pitch_motor 3 217 20.34 SBE_CT 361 24 205.56

Roll_motor 43 159 163.01 SBE_O2 383 19 172.75

VBD_pump_during_apogee 326 1029 7969.01 nil 0 0 0.00

VBD_pump_during_surface 0 0 0.00 nil 0 0 0.00

VBD_valve 0 0 0.00 nil 0 0 0.00

Iridium_during_init 0 0 0.00 nil 0 0 0.00

Iridium_during_connect 0 0 0.00 nil 0 0 0.00

Iridium_during_xfer 0 0 0.00 nil 0 0 0.00

Transponder_ping 0 420 2.49 nil 0 0 0.00

GUMSTIX_24V 0 0 0.00

GPS 0 0 0.00

TT8 1176 19 243.80

LPSleep 1677 2 40.29

TT8_Active 405 19 84.01

TT8_Sampling 846 39 351.55

TT8_CF8 72 45 34.46

TT8_Kalman 0 0 0.00

Analog_circuits 902 12 112.66

GPS_charging 0 0 0.00

Compass 844 15 131.76

RAFOS 720 1 11.23

Transponder 2 30 0.82

Guidance and control:

st_secs pitch_ctl vbd_ctl depth ob_vertv data_pts end_secs pitch_secs roll_secs vbd_secs vbd_i gcphase pitch_i roll_i pitch_ad roll_ad vbd_ad pitch_retries pitch_errors roll_retries roll_errors vbd_retries vbd_errors

12 end surface: CONTROL_FINISHED_OK

state 12 begin dive

15 -0.62 -146.0 0.0 0.0 0 120 0.00 0.35 -99.32 0.000 6 0.000 0.159 3073 2498 3626 0 0 0 0 0 0

124 -0.62 -146.0 3.6 -7.3 18 131 1.23 2.20 0.00 0.000 4 0.131 0.051 2667 1083 3627 0 0 0 0 0 0

183 -0.54 -146.0 10.0 -13.2 28 190 0.00 2.22 0.00 0.000 6 0.000 0.053 2667 2488 3627 0 0 0 0 0 0

528 -0.45 -146.0 62.1 -14.8 89 535 0.20 2.28 0.00 0.000 4 0.217 0.065 2716 3905 3626 0 0 0 0 0 0

632 -0.49 -146.0 73.6 -10.0 107 639 0.00 2.17 0.00 0.000 6 0.000 0.040 2716 2489 3626 0 0 0 0 0 0

980 -0.54 -146.0 105.0 -8.6 164 984 0.00 2.20 0.00 0.000 4 0.000 0.060 2716 1090 3624 0 0 0 0 0 0

1001 -0.59 -146.0 107.2 -9.7 165 1009 0.12 2.20 0.00 0.000 6 0.128 0.054 2675 2498 3623 0 0 0 0 0 0

1326 -0.57 -146.0 147.8 -11.8 196 1330 0.00 2.25 0.00 0.000 4 0.000 0.068 2675 3905 3622 0 0 0 0 0 0

1426 -0.57 -146.0 159.5 -11.4 204 1433 0.00 2.17 0.00 0.000 6 0.000 0.041 2675 2481 3621 0 0 0 0 0 0

1752 -0.57 -146.0 195.2 -11.2 235 1753 0.00 0.00 0.00 0.000 6 0.000 0.000 2675 2481 3621 0 0 0 0 0 0

1962 end dive: TARGET_DEPTH_EXCEEDED

state 1962 begin apogee

1968 -0.12 0.0 216.4 10.2 255 2089 0.47 0.00 114.53 1.030 6 0.197 0.000 2813 2251 3031 0 0 0 0 0 0

2090 end apogee: CONTROL_FINISHED_OK

state 2090 begin climb

2092 0.62 146.0 220.3 0.0 266 2223 0.80 2.38 118.03 0.976 4 0.144 0.058 3066 893 2432 0 0 0 0 0 0

2303 0.54 146.0 201.3 11.3 285 2307 0.00 2.28 0.00 0.000 6 0.000 0.044 3066 2278 2428 0 0 0 0 0 0

2630 0.48 146.0 162.0 12.6 315 2635 0.17 2.28 0.00 0.000 4 0.174 0.057 3020 3690 2427 0 0 0 0 0 0

2730 0.44 146.0 150.2 11.1 323 2737 0.00 2.20 0.00 0.000 6 0.000 0.041 3028 2294 2427 0 0 0 0 0 0

3057 0.51 204.1 121.7 7.3 354 3112 0.00 2.30 48.05 0.913 4 0.000 0.054 3028 3693 2196 0 0 0 0 0 0

3161 0.54 204.1 111.3 11.7 363 3165 0.00 2.28 0.00 0.000 6 0.000 0.041 3037 2270 2193 0 0 0 0 0 0

3500 0.61 231.3 78.0 8.7 414 3530 0.00 2.25 22.85 0.866 4 0.000 0.056 3042 873 2086 0 0 0 0 0 0

3590 0.73 256.8 70.0 8.8 429 3621 0.17 2.22 23.10 0.861 6 0.096 0.042 3111 2279 1983 0 0 0 0 0 0

3958 0.70 256.8 21.5 13.4 494 3965 0.00 2.25 0.00 0.000 4 0.000 0.057 3111 3691 1977 0 0 0 0 0 0

4011 0.62 256.8 13.9 15.0 503 4018 0.20 2.22 0.00 0.000 6 0.187 0.042 3069 2272 1976 0 0 0 0 0 0

4073 end climb: SURFACE_OBSTACLE_DETECTED

state 4073 begin subsurface finish

4080 0.05 37.5 6.8 -10.2 514 4122 0.57 2.22 -33.00 0.000 4 0.154 0.069 2888 869 2880 0 0 0 0 0 0

4123 end subsurface finish: CONTROL_FINISHED_OK

state 4123 begin surface

ID	141	HD_C	9.9999997e-06	ROLL_MIN	256	ALTIM_TOP_TURN_MARGIN	5
MISSION	15	HEADING	-1	ROLL_MAX	3943	ALTIM_TOP_MIN_OBSTACLE	2
DIVE	130	ESCAPE_HEADING	120	ROLL_DEG	40	ALTIM_PING_DEPTH	300
N_DIVES	0	ESCAPE_HEADING_DELTA	10	C_ROLL_DIVE	2490	ALTIM_PING_DELTA	50
D_SURF	3	FIX_MISSING_TIMEOUT	5	C_ROLL_CLIMB	2275	ALTIM_FREQUENCY	13
D_FLARE	5	TGT_DEFAULT_LAT	6000	HEAD_ERRBAND	10	ALTIM_PULSE	3
D_TGT	990	TGT_DEFAULT_LON	-5500	ROLL_CNV	0.028270001	ALTIM_SENSITIVITY	4
D_ABORT	1050	TGT_AUTO_DEFAULT	0	ROLL_TIMEOUT	15	XPDR_VALID	4
D_NO_BLEED	50	SM_CC	400	R_PORT_OVSHOOT	37	XPDR_INHIBIT	90
D_BOOST	3	N_FILEKB	4	R_STBD_OVSHOOT	33	INT_PRESSURE_SLOPE	0.0097660003
T_BOOST	0	FILEMGR	2	ROLL_AD_RATE	325	INT_PRESSURE_YINT	0
D_FINISH	9	CALL_NDIVES	1	ROLL_MAXERRORS	0	DEEPGLIDER	0
D_PITCH	1.75	COMM_SEQ	0	ROLL_ADJ_GAIN	0	DEEPGLIDERMB	0
D_SAFE	500	PROTOCOL	9	ROLL_ADJ_DBAND	0	MOTHERBOARD	4
D_CALL	3	N_NOCOMM	1	VBD_MIN	751	DEVICE1	2
SURFACE_URGENCY	10	N_NOSURFACE	0	VBD_MAX	4040	DEVICE2	20
SURFACE_URGENCY_TRY	5	UPLOAD_DIVES_MAX	5	C_VBD	3030	DEVICE3	-1
SURFACE_URGENCY_FORCE	10	CALL_TRIES	3	VBD_DBAND	2	DEVICE4	-1
T_DIVE	330	CALL_WAIT	60	VBD_CNV	-0.24529999	DEVICE5	-1
T_MISSION	400	CAPUPLOAD	0	VBD_TIMEOUT	720	DEVICE6	-1
T_ABORT	1440	CAPMAXSIZE	100000	PITCH_VBD_SHIFT	0.0012300001	LOGGERS	0
T_TURN	225	HEAPDBG	0	VBD_PUMP_AD_RATE_SURFACE	5	LOGGERDEVICE1	-1
T_TURN_SAMPINT	5	T_GPS	3	VBD_PUMP_AD_RATE_APOGEE	4	LOGGERDEVICE2	-1
T_NO_W	120	N_GPS	20	VBD_BLEED_AD_RATE	8	LOGGERDEVICE3	-1
T_LOITER	0	T_GPS_ALMANAC	0	UNCOM_BLEED	50	LOGGERDEVICE4	-1
USE_BATHY	-3	T_GPS_CHARGE	-26477.854	VBD_MAXERRORS	1	COMPASS_DEVICE	33
USE_ICE	2	T_RSLEEP	2	CF8_MAXERRORS	0	COMPASS2_DEVICE	133
ICE_FREEZE_MARGIN	0.1	STROBE	0	AH0_24V	150	PHONE_DEVICE	48
D_OFFGRID	250	RAFOS_PEAK_OFFSET	1.5	AH0_10V	110	GPS_DEVICE	32
T_WATCHDOG	10	RAFOS_CORR_THRESH	60	MINV_24V	19	RAFOS_DEVICE	32
RELAUNCH	1	RAFOS_HIT_WINDOW	3600	MINV_10V	8	XPDR_DEVICE	24
APOGEE_PITCH	-5	PITCH_MIN	110	FG_AHR_10V	0	SIM_W	0
MAX_BUOY	150	PITCH_MAX	3900	FG_AHR_24V	0	SIM_PITCH	0
COURSE_BIAS	0	C_PITCH	2864	PHONE_SUPPLY	2	SEABIRD_T_G	0.0042907749
GLIDE_SLOPE	30	PITCH_DBAND	0.1	PRESSURE_YINT	-33.184971	SEABIRD_T_H	0.0006300722
SPEED_FACTOR	1	PITCH_CNV	0.0031256729	PRESSURE_SLOPE	0.0001160265	SEABIRD_T_I	2.4342404e-05
RHO	1.0275	P_OVSHOOT	0.039999999	AD7714Ch0Gain	128	SEABIRD_T_J	2.663412e-06
MASS	51684	PITCH_GAIN	40	TCM_PITCH_OFFSET	0	SEABIRD_C_G	-9.8752003
NAV_MODE	0	PITCH_TIMEOUT	20	TCM_ROLL_OFFSET	0	SEABIRD_C_H	1.1299734
FERRY_MAX	45	PITCH_AD_RATE	175	COMPASS_USE	0	SEABIRD_C_I	-0.00041852854
KALMAN_USE	2	PITCH_MAXERRORS	2	ALTIM_BOTTOM_PING_RANGE	0	SEABIRD_C_J	0.00012689357
HD_A	0.003	PITCH_ADJ_GAIN	0.02	ALTIM_TOP_PING_RANGE	20
HD_B	0.0099999998	PITCH_ADJ_DBAND	1	ALTIM_BOTTOM_TURN_MARGIN	15

GPS1	100311,101746,6725.532,-5729.512,14,99.0,33,-38.2	TGT_NAME	midTARGET
_CALLS	2	TGT_LATLONG	6656.000,-5813.000
_XMS_NAKs	0	TGT_RADIUS	10000.000
_XMS_TOUTs	0	KALMAN_CONTROL	0.000,0.000
_SM_DEPTHo	1.77	KALMAN_X	0.0,0.0,0.0,0.0,0.0
_SM_ANGLEo	13.0	KALMAN_Y	0.0,0.0,0.0,0.0,0.0
GPS2	100311,101746,6725.532,-5729.512,14,99.0,33,-38.2	MHEAD_RNG_PITCHd_Wd	248.2,63144,-17.5,-10.000
SPEED_LIMITS	0.173,0.260	D_GRID	216

FREEZE	6.81,-1.355,-1.827,2,5,0	ALTIM_TOP_PING	19.6,17.6
FINISH1	6.8,1.026735,37	_24V_AH	23.7,19.348
FINISH2	5.4	_10V_AH	10.4,10.659
RAFOS_CLK	225	FG_AHR_24Vo	0.000
RAFOS	0,1299772861,16.033333,16.016945,69,56,55,53,52,51,174,144,209,160,219,132	FG_AHR_10Vo	0.000
RAFOS_FIX	6725.381348,-5734.985352,100311,040456,2,108,0.00	MEM	150556
IRIDIUM_FIX	6658.43,-5734.74,100311,101042	DATA_FILE_SIZE	20081,521
TT8_MAMPS	0.026215	CAP_FILE_SIZE	55523,0
HUMID	44.25	CFSIZE	260165632,243568640
INTERNAL_PRESSURE	8.7601	ERRORS	0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
TCM_TEMP	17.50	SOUNDSPEED	1460.9
XPDR_PINGS	0	GPS	100311,101746,6725.532,-5729.512,14,99.0,33,-38.2

device	secs	mA	J	sensor	secs	mA	J
Pitch_motor	3	217	20.34	SBE_CT	361	24	205.56
Roll_motor	43	159	163.01	SBE_O2	383	19	172.75
VBD_pump_during_apogee	326	1029	7969.01	nil	0	0	0.00
VBD_pump_during_surface	0	0	0.00	nil	0	0	0.00
VBD_valve	0	0	0.00	nil	0	0	0.00
Iridium_during_init	0	0	0.00	nil	0	0	0.00
Iridium_during_connect	0	0	0.00	nil	0	0	0.00
Iridium_during_xfer	0	0	0.00	nil	0	0	0.00
Transponder_ping	0	420	2.49	nil	0	0	0.00
GUMSTIX_24V	0	0	0.00
GPS	0	0	0.00
TT8	1176	19	243.80
LPSleep	1677	2	40.29
TT8_Active	405	19	84.01
TT8_Sampling	846	39	351.55
TT8_CF8	72	45	34.46
TT8_Kalman	0	0	0.00
Analog_circuits	902	12	112.66
GPS_charging	0	0	0.00
Compass	844	15	131.76
RAFOS	720	1	11.23
Transponder	2	30	0.82

st_secs	pitch_ctl	vbd_ctl	depth	ob_vertv	data_pts	end_secs	pitch_secs	roll_secs	vbd_secs	vbd_i	gcphase	pitch_i	roll_i	pitch_ad	roll_ad	vbd_ad	pitch_retries	pitch_errors	roll_retries	roll_errors	vbd_retries	vbd_errors
12	end surface: CONTROL_FINISHED_OK
state	12	begin dive
15	-0.62	-146.0	0.0	0.0	0	120	0.00	0.35	-99.32	0.000	6	0.000	0.159	3073	2498	3626	0	0	0	0	0	0
124	-0.62	-146.0	3.6	-7.3	18	131	1.23	2.20	0.00	0.000	4	0.131	0.051	2667	1083	3627	0	0	0	0	0	0
183	-0.54	-146.0	10.0	-13.2	28	190	0.00	2.22	0.00	0.000	6	0.000	0.053	2667	2488	3627	0	0	0	0	0	0
528	-0.45	-146.0	62.1	-14.8	89	535	0.20	2.28	0.00	0.000	4	0.217	0.065	2716	3905	3626	0	0	0	0	0	0
632	-0.49	-146.0	73.6	-10.0	107	639	0.00	2.17	0.00	0.000	6	0.000	0.040	2716	2489	3626	0	0	0	0	0	0
980	-0.54	-146.0	105.0	-8.6	164	984	0.00	2.20	0.00	0.000	4	0.000	0.060	2716	1090	3624	0	0	0	0	0	0
1001	-0.59	-146.0	107.2	-9.7	165	1009	0.12	2.20	0.00	0.000	6	0.128	0.054	2675	2498	3623	0	0	0	0	0	0
1326	-0.57	-146.0	147.8	-11.8	196	1330	0.00	2.25	0.00	0.000	4	0.000	0.068	2675	3905	3622	0	0	0	0	0	0
1426	-0.57	-146.0	159.5	-11.4	204	1433	0.00	2.17	0.00	0.000	6	0.000	0.041	2675	2481	3621	0	0	0	0	0	0
1752	-0.57	-146.0	195.2	-11.2	235	1753	0.00	0.00	0.00	0.000	6	0.000	0.000	2675	2481	3621	0	0	0	0	0	0
1962	end dive: TARGET_DEPTH_EXCEEDED
state	1962	begin apogee
1968	-0.12	0.0	216.4	10.2	255	2089	0.47	0.00	114.53	1.030	6	0.197	0.000	2813	2251	3031	0	0	0	0	0	0
2090	end apogee: CONTROL_FINISHED_OK
state	2090	begin climb
2092	0.62	146.0	220.3	0.0	266	2223	0.80	2.38	118.03	0.976	4	0.144	0.058	3066	893	2432	0	0	0	0	0	0
2303	0.54	146.0	201.3	11.3	285	2307	0.00	2.28	0.00	0.000	6	0.000	0.044	3066	2278	2428	0	0	0	0	0	0
2630	0.48	146.0	162.0	12.6	315	2635	0.17	2.28	0.00	0.000	4	0.174	0.057	3020	3690	2427	0	0	0	0	0	0
2730	0.44	146.0	150.2	11.1	323	2737	0.00	2.20	0.00	0.000	6	0.000	0.041	3028	2294	2427	0	0	0	0	0	0
3057	0.51	204.1	121.7	7.3	354	3112	0.00	2.30	48.05	0.913	4	0.000	0.054	3028	3693	2196	0	0	0	0	0	0
3161	0.54	204.1	111.3	11.7	363	3165	0.00	2.28	0.00	0.000	6	0.000	0.041	3037	2270	2193	0	0	0	0	0	0
3500	0.61	231.3	78.0	8.7	414	3530	0.00	2.25	22.85	0.866	4	0.000	0.056	3042	873	2086	0	0	0	0	0	0
3590	0.73	256.8	70.0	8.8	429	3621	0.17	2.22	23.10	0.861	6	0.096	0.042	3111	2279	1983	0	0	0	0	0	0
3958	0.70	256.8	21.5	13.4	494	3965	0.00	2.25	0.00	0.000	4	0.000	0.057	3111	3691	1977	0	0	0	0	0	0
4011	0.62	256.8	13.9	15.0	503	4018	0.20	2.22	0.00	0.000	6	0.187	0.042	3069	2272	1976	0	0	0	0	0	0
4073	end climb: SURFACE_OBSTACLE_DETECTED
state	4073	begin subsurface finish
4080	0.05	37.5	6.8	-10.2	514	4122	0.57	2.22	-33.00	0.000	4	0.154	0.069	2888	869	2880	0	0	0	0	0	0
4123	end subsurface finish: CONTROL_FINISHED_OK
state	4123	begin surface